Modeling and Analysis of Parallel Mechanisms With Both Kinematic and Actuation Redundancies Via Screw Theory-Reference-Cited by-同舟云学术

Modeling and Analysis of Parallel Mechanisms With Both Kinematic and Actuation Redundancies Via Screw Theory

Published:2017-09-20 Issue:6 Volume:9 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Kang Long¹,Kim Wheekuk²,Yi Byung-Ju³

Affiliation:

1. Department of Electronic Systems Engineering, Hanyang University, Ansan 15588, Gyeonggi-do, South Korea e-mail:

2. Professor Department of Electro-Mechanical System Engineering, Korea University, 2511, Sejong-ro, Sejong 339-700, South Korea e-mail:

3. Professor Department of Electronic Systems Engineering, Hanyang University, Ansan 15588, Gyeonggi-do, South Korea e-mail:

Abstract

Two kinds of mechanical redundancies, namely kinematic redundancy and actuation redundancy, have been extensively studied due to their advantageous features in autonomous industry. Screw theory has been successfully applied to develop an analytical Jacobian of nonredundant parallel manipulators (PMs). However, to the best of our knowledge, screw theory has not been attempted for modeling of PMs with kinematic redundancies. Thus, first, through the mobility analysis of a simple nonredundant planar PM and its variations, this paper reviews kinematic and actuation redundancy systematically. Then, we demonstrated how to derive analytical Jacobian and also static force relationship for a PM with both kinematic and actuation redundancies by using the screw theory. Finally, simulations were performed to demonstrate the advantageous features of kinematic and actuation redundancies.

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4037805/6259926/jmr_009_06_061007.pdf

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